JPH01316184A - Industrial robot - Google Patents
Industrial robotInfo
- Publication number
- JPH01316184A JPH01316184A JP63146270A JP14627088A JPH01316184A JP H01316184 A JPH01316184 A JP H01316184A JP 63146270 A JP63146270 A JP 63146270A JP 14627088 A JP14627088 A JP 14627088A JP H01316184 A JPH01316184 A JP H01316184A
- Authority
- JP
- Japan
- Prior art keywords
- shaft
- base
- horizontal arm
- transmission
- work
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000003028 elevating effect Effects 0.000 claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は水平関節形の産業用ロボット、特に水平腕動
作の高速化、動作信頼度の向」二に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a horizontally articulated industrial robot, particularly to speeding up horizontal arm motion and improving reliability of motion.
第８図は例えば特開昭５８−２１１８８９号公報に示さ
れた産業用ロボットに類似した従来の産業用ロボットで
あり９図中、（１）は基体で、（２）は基体（１）に設
けられた昇降軸、（３）は一端が昇降軸（２）の上端部
に枢着された基体側水平腕、（４）は電動機と減速機か
らなり昇降軸（２）の−上端に設けられて基体側水平腕
（３）を回動動作させる駆動機、（５）は基体側水平腕
（３）の回動端に枢着された作業側水平腕。Figure 8 shows a conventional industrial robot similar to the industrial robot shown in, for example, Japanese Patent Application Laid-Open No. 58-211889. In Figure 9, (1) is the base, and (2) is the base (1). The vertical arm (3) is a base-side horizontal arm whose one end is pivoted to the upper end of the vertical axis (2), and (4) is a motor and a speed reducer, and is installed at the upper end of the vertical axis (2). (5) is a working side horizontal arm pivotally attached to the rotating end of the base side horizontal arm (3).
（６）は電動機と減速機からなり基体側水平腕（３）の
回動端に設けられて作業側水平腕（５）を回動動作させ
る駆動機、（７）は作業側水平腕（５）の回動端に枢着
された作業用の把手、（８）は電動機と減速機からなり
作業側水平腕（５）の回動端に設けられて把手（７）を
回動動作させる駆動機、（９）は基体側水平腕（３）用
の駆動機（４）に一端が接続されて基体（１）に引き込
まれたケーブル、 （１０）は作業側水平腕（５）用駆
動機（６）に一端が接続されて基体（１）に引き込まれ
たケーブル、 （ＩＩ）は把手（７）用駆動機（８）に
−端が接続されて（１）に引き込まれたケーブル、（１
２）は架設されたケーブル（１０）（ＩＩ）の中間部を
支持したホルダーである。(6) is a drive device consisting of an electric motor and a speed reducer, and is installed at the rotating end of the horizontal arm (3) on the base side and rotates the horizontal arm (5) on the working side. ) is a working handle pivotally attached to the rotating end of the handle, and (8) is a drive unit consisting of an electric motor and a speed reducer, which is provided at the rotating end of the working side horizontal arm (5) and rotates the handle (7). machine, (9) is a cable whose one end is connected to the drive machine (4) for the horizontal arm (3) on the base side and drawn into the base body (1), (10) is the drive machine for the horizontal arm (5) on the work side (6) is a cable whose one end is connected to the base body (1), (II) is a cable whose negative end is connected to the driver (8) for the handle (7) and which is drawn into (1); 1
2) is a holder that supports the intermediate part of the installed cable (10) (II).
従来の産業用ロボットは上記のように構成され次のよう
な各部の動作によって把手（７）が所要位置に配置され
る。すなわち、昇降軸（２）が駆動されて基体側水平腕
（３）が所要高さに配置される。またケーブル（９）を
介し駆動機（４）が付勢されて基体側水平腕（３）を回
動し所要位置に配置する。またケーブル（１０）を介し
駆動機（６）が付勢されて作動側水平腕（５）を回動し
所要位置に配置する。さらにケーブル（１１）を介し駆
動機（８）が付勢されて把手（７）を回動し所要姿勢に
配置する。この把手（７）によって所要の作業が行なわ
れ、その後に各駆動機（４）（６）（８）が再度付勢さ
れて次の工程が実行される。The conventional industrial robot is constructed as described above, and the handle (7) is placed in a desired position by the following operations of each part. That is, the elevating shaft (2) is driven and the base side horizontal arm (3) is placed at a required height. Further, the driver (4) is energized via the cable (9) to rotate the horizontal arm (3) on the base side and place it at a desired position. Further, the drive machine (6) is energized via the cable (10) to rotate the operating horizontal arm (5) and place it at a desired position. Furthermore, the drive machine (8) is energized via the cable (11) to rotate the handle (7) and place it in a desired posture. This handle (7) performs the required work, and then each drive machine (4), (6), and (8) is energized again to execute the next process.
上記のような従来の産業用ロボットでは、基体側水平腕
（３）２作業側水平腕（５）の各端部に重量の大きい駆
動機（４）（６）（８）が設けられ、またこれらの駆動
機（４）（６）（８）はケーブル（９）〜（１１）によ
り付勢される。したがって基体側水平腕（３）９作業側
水平腕（５）を高速で、また高加速高減速で動作させる
ためには駆動機（４） （６） （８）の高出力化を要
するが、同時に駆動機（４） （６） （８）が大重量
化するために動作の高速化が困難であり、またケーブル
（９）〜（１１）が架設されるためにケーブル（９）〜
（１１）の断線による故障を防ぐという課題があった。In the conventional industrial robot as described above, heavy driving machines (4), (6), and (8) are provided at each end of the horizontal arm (3) on the base side and the horizontal arm (5) on the work side. These drivers (4), (6), and (8) are energized by cables (9) to (11). Therefore, in order to operate the base side horizontal arm (3) 9 and the work side horizontal arm (5) at high speed and with high acceleration and deceleration, it is necessary to increase the output of the drive machine (4) (6) (8). At the same time, the heavy weight of the driving machines (4), (6), and (8) makes it difficult to increase the speed of operation, and since the cables (9) to (11) are installed, the cables (9) to
(11) There was a problem of preventing failures due to wire breakage.
この発明は、かかる課題を解決するためになされたもの
で、動作の高速化が可能であり、また架設されたケーブ
ルに起因する不具合のない産業用ロボットを得ることを
目的とする。The present invention was made to solve this problem, and aims to provide an industrial robot that can operate at high speed and is free from problems caused by installed cables.
この発明にかかわる産業用ロボットは９把手用駆動機等
の各駆動機が基体に装着され、それぞれに設けられた伝
動機構を介して水平腕等に駆動機の動作を伝動するよう
にしたものである。The industrial robot according to the present invention has nine handle drive machines and other drive machines mounted on a base body, and the operation of the drive machines is transmitted to the horizontal arm etc. through a transmission mechanism provided on each drive machine. be.
この発明においては、各水平腕に駆動機が配置されない
ために作動部を軽量化することができ。In this invention, since no driving machine is disposed on each horizontal arm, the weight of the operating section can be reduced.
また駆動機が基体に設けられるためケーブルは固定部に
配線されるので揺動することがない。Furthermore, since the drive unit is provided on the base, the cable is routed to the fixed part, so it does not swing.
以下、第１図〜第７図によってこの発明の一実施例を説
明する。Hereinafter, one embodiment of the present invention will be explained with reference to FIGS. 1 to 7.
図中、第８図と同符号は相当部分を示し、（２゜）は円
筒状の昇降軸（２）の下端が下方へ延長されてなる脚部
、 （２ｂ）は脚部（２，）から突設された案内子（２
ｃ）は後述するボールねじと係合するす７ ト、（１３
）は基体（１）内に立設されて昇降軸（２）の案内子（
２ｂ）を移動可能に保持したレール、 （１４）は電動
機（１４，）減速機（１４ｂ）によって駆動され、かつ
昇−降軸（２）のナツト（２，）に係合したボールねじ
（１４ｃ）が設けられ基体（１）に装着された昇降駆動
機、（１５）は円筒体からなり昇降軸（２）内に挿入状
態に配置されて昇降軸（２）に枢持された基体側回動軸
で、上端には基体側水平腕（３）が固定され、下端には
両側面にそれぞれフランジ状の側板（１５，）を有する
従動歯車（１５ゎ）が固定されている。（１６）は電動
機（１６，）、減速！（１６ｂ）からなり基体（１）に
設けられた基体側回動軸用駆動機、 （＋７）は基体側
回動軸用駆動機（！６）によって駆動される四角棒から
なるスプライン状の伝達軸（１７，）と、この伝達軸（
１７，）に対し長手方向へ移動可能に嵌合されて従動歯
車（１５ｈ）とかみ合い、かつ側板（１５，）の相互間
に嵌合した駆動歯車（Ｉ７ｂ）とからなる伝動機構、（
１８）は円筒体からなり基体側回動軸（１５）内に挿入
状態に配置されて基体側回動軸（１５）に枢持された作
業側伝動軸で、下端には両側面にそれぞれフランジ状の
側板（ＩＬ）を有する従動歯車（１８ｂ）が固定されて
いる。（１９）は円筒体からなり基体側水平腕（３）の
回動端に枢持された作業側回動軸で、下端には作業側水
平腕（５）が固定されている。（２０）は作業側伝動軸
（１８）の上端に固定されたスブロケ、 ト（２０，）
及び作業側回動軸（１９）の上端に固定されたスプロケ
ット（２０ｂ）に巻き掛けられたタイミングベルト（２
０ｃ）からなる作業側巻掛伝動装置、 （２１）は電動
機（２１，）、減速機（２１ｂ）からなり基体（１）に
設けられた作業側伝動軸用駆動機、 （２２）は作業側
伝動軸用駆動機（２１）によって駆動される四角棒から
なるスプライン状の伝達軸（２２，）と、この伝達軸（
２２，）に対し長手方向へ移動可能に嵌合されて従動歯
車（１８ｂ）とかみ合いかつ側板（１ｇ、）の相互間に
嵌合した駆動歯車（２２ｂ）とからなる伝動機構、 （
２３）は作業側伝動軸（１８）内に挿入状態に配置され
て作業側伝動軸（１８）に枢持された把手側伝動軸で２
．下端には両側面にそれぞれフランジ状の側板（２３，
）を有する従動歯車（２３ｈ）が固定されている。（２
４）は把手側巻掛伝動装置で（２４，）は作業側回動軸
（１９）内に挿入状態に配置されて作業側回動軸（１９
）に枢持された把手側巻掛伝動装置（２４）の中間伝動
軸、 （２４，）は作業側水平腕（５）の回動端に枢持
されて下端に把手（７）が固定された把手回動軸、（２
４゜）は把手側伝動軸（２３）の上端に固定されたスブ
ロケッ！−（２４，）及び中間伝動軸（２４，）の上端
に固定されたスプロケット（２４，）に巻き掛けられた
タイミングベルト、（２４１）は中間伝動軸（２４，）
の下端に固定されたスプロケッｌ−（２４ＩＩ）及び把
手回動軸（２４ｂ）のト端に固定されたスプロケット
（２４，）に巻き掛けられたタイミングベルト。In the figure, the same reference numerals as in FIG. 8 indicate corresponding parts, (2°) is the leg formed by extending the lower end of the cylindrical lifting shaft (2) downward, (2b) is the leg (2,) A guide (2) protruding from
c) is a shaft (13) that engages with a ball screw to be described later.
) is erected within the base (1) and guides the lifting shaft (2) (
2b) movably held; (14) is a ball screw (14c) driven by an electric motor (14,) and a speed reducer (14b) and engaged with a nut (2,) of an elevator shaft (2); ) is provided and is attached to the base (1), and (15) is a cylindrical body that is inserted into the lift shaft (2) and is pivotally supported on the lift shaft (2). A base-side horizontal arm (3) is fixed to the upper end of the moving shaft, and a driven gear (15°) having flange-shaped side plates (15,) on both sides is fixed to the lower end. (16) is the electric motor (16,), deceleration! (16b) is a drive mechanism for the base side rotating shaft provided on the base body (1), and (+7) is a spline-shaped transmission consisting of a square bar driven by the base side rotating shaft driver (!6). The shaft (17,) and this transmission shaft (
A transmission mechanism consisting of a drive gear (I7b) that is fitted to the drive gear (17,) so as to be movable in the longitudinal direction and meshes with the driven gear (15h), and that is fitted between the side plates (15,);
18) is a working side power transmission shaft which is made of a cylindrical body and is inserted into the base side rotation shaft (15) and is pivotally supported by the base side rotation shaft (15), and the lower end has flanges on both sides. A driven gear (18b) having a shaped side plate (IL) is fixed. Reference numeral (19) denotes a working side rotation shaft which is made of a cylindrical body and is pivotally supported at the rotating end of the base side horizontal arm (3), and the working side horizontal arm (5) is fixed to the lower end. (20) is a sprocket fixed to the upper end of the working side transmission shaft (18).
and a timing belt (2) wrapped around a sprocket (20b) fixed to the upper end of the working side rotating shaft (19).
0c), (21) is a drive for the working side transmission shaft, which is comprised of an electric motor (21,) and a speed reducer (21b), and is installed on the base (1). (22) is a working side transmission shaft. A spline-shaped transmission shaft (22,) made of a square bar driven by a transmission shaft driver (21), and this transmission shaft (
A transmission mechanism consisting of a drive gear (22b) fitted to the drive gear (22,) so as to be movable in the longitudinal direction and meshed with the driven gear (18b) and fitted between the side plates (1g,);
23) is a handle-side transmission shaft that is inserted into the working-side transmission shaft (18) and is pivotally supported by the working-side transmission shaft (18).
．． At the lower end, there are flange-shaped side plates (23,
) is fixed. (2
4) is a handle side wrap transmission device, and (24,) is inserted into the working side rotation shaft (19) and is inserted into the working side rotation shaft (19).
) is pivotally supported on the intermediate transmission shaft of the handle-side wrap-around transmission (24), (24,) is pivotally supported on the rotating end of the work-side horizontal arm (5), and the handle (7) is fixed to the lower end. handle rotation axis, (2
4°) is the subblock fixed to the upper end of the handle side transmission shaft (23)! - (24,) is a timing belt wrapped around a sprocket (24,) fixed to the upper end of the intermediate transmission shaft (24,); (241) is the intermediate transmission shaft (24,);
Sprocket l-(24II) fixed to the lower end of the handle and sprocket fixed to the upper end of the handle rotation shaft (24b)
The timing belt wrapped around (24,).
（２５）は電動機（２５，）、減速機（２５１，）から
なり基体（１）に設けられた把手側伝動軸用駆動機、
（２６）は把手側伝動軸用駆動機（２５）によって駆動
される四角棒からなるスプライン状の伝達軸（２６ａ）
と、この伝達軸（２６，）に対し長手方向へ移動可能に
嵌合されて従動歯車（ｏｂ）とかみ合いかつ側板（２３
，）の相互間に嵌合した駆動歯車（２６ｂ）とからなる
伝動機構。(25) is a handle-side power transmission shaft drive machine provided on the base body (1), consisting of an electric motor (25,) and a speed reducer (251,);
(26) is a spline-shaped transmission shaft (26a) made of a square bar driven by the handle-side transmission shaft driver (25).
is fitted to the transmission shaft (26,) so as to be movable in the longitudinal direction, meshing with the driven gear (ob), and side plate (23).
, ) and a drive gear (26b) fitted between the two.
（２７）は把手（７）に把持されたワークである。(27) is a workpiece held by the handle (7).
上記のように構成された産業用ロボットにおいては基体
（１）に設けられた昇降駆動機（１４）によりレール（
１３）を介して昇降軸（２）を駆動することによって基
体側水平腕（３）が所要高さに配置されるまた基体（１
）に設けられた基体側回動軸用駆動機（１６）により伝
動機構（１７）を介して基体側回動軸（１５）を回動し
基体側水平腕（３）が平面の所要位置に配置される。ま
た基体（１）に設けられた作業側伝動軸用駆動機（２１
）により伝動機構（２２）、及び作業側巻掛伝動装置（
２０）を介して作業側回動軸（１９）を回動し作業側水
平腕（５）が平面の所要位置に配置される。さらに基体
（＋）に設けられた把手側伝動軸用駆動機（２５）によ
り伝動機構（２６）、及び把手側巻掛伝動装置（２４）
を介して把手回動軸（２４ｂ）を回動し把手（７）が平
面での所要姿勢に配置されるこのように基体側水平腕（
３）等がそれぞれ基体（１）に設けられた基体側回動軸
用駆動機（１６）等によって駆動されるので、各水平腕
等の作動箇所に駆動機を装管する必要がなく作動部を軽
量化することができる。したがって基体側水平腕（３）
等の動作を容易に高速化、高加速、高減速化することが
でき短い周期で作業可能となって作業能率の高い産業用
ロボットを得ることができる。また基体側回動軸用駆動
機（１６）等が固定部である基体（１）に装着されるた
め架設されたケーブルが揺動して断線すること等による
故障のない動作信頼度の高い産業用ロボットを得ること
ができる。In the industrial robot configured as described above, the rail (
By driving the lifting shaft (2) through the base body (13), the horizontal arm (3) on the base body side is arranged at a required height.
) is used to rotate the base-side rotation shaft (15) via the transmission mechanism (17) by the base-side rotation shaft drive machine (16) provided in the base-side rotation shaft (16), so that the base-side horizontal arm (3) is placed at a desired position on the plane. Placed. In addition, the work side power transmission shaft drive machine (21) provided on the base body (1)
), the transmission mechanism (22) and the working side wrap-around transmission (
20), the work side rotation shaft (19) is rotated, and the work side horizontal arm (5) is placed at a required position on a plane. Furthermore, a transmission mechanism (26) and a handle side wrap-around transmission device (24) are connected by a handle side transmission shaft drive machine (25) provided on the base body (+).
In this way, the horizontal arm on the base side (
3) etc. are each driven by the base side rotating shaft drive machine (16) etc. provided on the base body (1), so there is no need to install a drive machine at the operating point of each horizontal arm etc. can be made lighter. Therefore, the horizontal arm on the base side (3)
It is possible to easily increase the speed, high acceleration, and high deceleration of operations such as the above, and to perform work in a short period of time, thereby making it possible to obtain an industrial robot with high work efficiency. In addition, since the drive unit for the base side rotating shaft (16) etc. is attached to the base body (1), which is a fixed part, the installed cable does not swing and break. You can get a robot for.
この発明は以上説明したとおり、昇降軸を基体に設けら
れた昇降駆動機によって昇降させ、基体側水平腕を基体
に設けられた基体側回動軸用駆動機により伝動機構、基
体側回動軸を介して回動動作させ１作業側水平腕を基体
に設けられた作業側伝動軸用駆動機により伝動機構９作
業側巻掛伝動装置１作業側回動軸を介して回動動作させ
１把手を基体に設けられた把手側伝動軸用駆動機により
伝動機構９把手側巻掛伝動装置２把手回動軸を介して回
動動作させたものである。これによって、基体側水平腕
等の各作動部がそれぞれ基体に設けられ゛て駆動機によ
って駆動されるため、各作動部を軽量化することができ
、各作動部の動作を容易に高速化することが可能となり
作業周期の短い高能率の産業用ロボットを得ることがで
き、また、各駆動機が基体に装着されるため架設された
ケーブルが揺動して断線すること等による不具合のない
動作信頼度の高い産業用ロボットを得ることができる。As explained above, in this invention, the elevating shaft is raised and lowered by the elevating drive machine provided on the base body, and the base side horizontal arm is connected to the transmission mechanism by the base side rotary shaft drive machine provided on the base body. The horizontal arm on the work side is rotated through the transmission mechanism 9 and the work side transmission shaft drive machine provided on the base body. The transmission mechanism 9 is rotated by a handle-side power transmission shaft driver provided on the base via a handle-side winding transmission 2 through a handle rotation shaft. As a result, each operating part, such as the horizontal arm on the base side, is provided on the base body and driven by a drive machine, so each operating part can be made lighter, and the operation of each operating part can be easily increased in speed. This makes it possible to obtain a highly efficient industrial robot with a short work cycle, and since each drive unit is attached to the base, the installed cables can operate without problems such as swinging and disconnection. A highly reliable industrial robot can be obtained.
第１図はこの発明による産業用ロボットの一実施例を示
す正面図、第２図は第１図の■部縦断拡大図、第３図は
第１図の■部縦断拡大図、第４図は第１図の■部縦断拡
大図、第５図は第２図のＶ部拡大図、第６図は第５図の
平面図、第７図は第２図の■−■線断面図、第８図は従
来の産業用ロボットを示す第１図相当図である。
（ｆ）・・・基体、（２）・・・昇降軸、（３）・・・
基体側水平腕。
（５）・・・作業側水平腕、（７）・・・把手、 （１
４）・・・昇降駆動機、 （１５）・・・基体側回動軸
、 （ｔｓｂ）・・・従動歯車、 （１Ｂ）・・・基体
側回動軸用駆動機（駆動機）。
（１７）・・・伝動機構、 （１７，）・・・伝動軸、
（１７，、）・・・駆動山車、 （１８）・・・作業
側伝動軸、 （ｔｇｂ）・・・従動歯車、 （１９）・
・・作業側回動軸、 （２０）・・・作業側巻掛伝動装
置、 （２１）・・・作業側伝動軸用駆動機（駆動機）
、 （２２）・・・伝動機構、（２２゜）・・・駆動歯
車。
（２３）・・・把手側伝動軸、 （２３ｂ）・・・従動
歯車、 （２４）・・・把手側巻掛伝動装置、 （２４
，）・・・中間伝動軸。
（２４ｂ）・・・把手回動軸、 （２５）・・・把手側
伝動軸用駆動機（駆動機）、 （２６）・・・伝動機構
、 （２６ｂ）・・・駆動歯車。
なお９図中同一部分または相当部分は同一符号により示
す。Fig. 1 is a front view showing an embodiment of the industrial robot according to the present invention, Fig. 2 is an enlarged longitudinal sectional view of the ■ section in Fig. 1, Fig. 3 is an enlarged longitudinal sectional view of the - section in Fig. 1, and Fig. 4 is an enlarged longitudinal sectional view of part ■ in Fig. 1, Fig. 5 is an enlarged view of part V in Fig. 2, Fig. 6 is a plan view of Fig. 5, Fig. 7 is a sectional view taken along the line -■ in Fig. 2, FIG. 8 is a diagram corresponding to FIG. 1 showing a conventional industrial robot. (f)...Base body, (2)...Elevating axis, (3)...
Horizontal arm on the base side. (5)...Work side horizontal arm, (7)...Handle, (1
4)... Lifting drive machine, (15)... Base side rotating shaft, (tsb)... Driven gear, (1B)... Base side rotating shaft drive machine (driver). (17)...Transmission mechanism, (17,)...Transmission shaft,
(17,,)... Drive float, (18)... Working side transmission shaft, (tgb)... Driven gear, (19)...
... Working side rotating shaft, (20) ... Working side wrap transmission device, (21) ... Working side transmission shaft drive machine (drive machine)
, (22)...Transmission mechanism, (22°)...Drive gear. (23)...handle side transmission shaft, (23b)...driven gear, (24)...handle side wrap transmission device, (24)...
,)...Intermediate transmission shaft. (24b)...Handle rotation shaft, (25)...Handle side transmission shaft drive machine (driver), (26)...Transmission mechanism, (26b)...Drive gear. In addition, the same parts or corresponding parts in FIG. 9 are indicated by the same reference numerals.
Claims (1)
れた基体側水平腕、基体側水平腕の回動端に一端が枢持
された作業側水平腕、及び作業側水平腕の回動端に設け
られた把手を有する産業用ロボットにおいて、上記基体
に装着されて上記昇降軸を昇降させる昇降駆動機と、上
記基体に設けられて上下方向に配置されたスプライン状
の伝達軸及びこの伝達軸に摺動可能に係合された駆動歯
車を有する伝動機構と、上記昇降軸に枢持されかつ同心
に設けられ上端に上記基体側水平腕が固定されて下端に
は上記伝動機構の駆動歯車と回転方向及び昇降方向に係
合した従動歯車が設けられた基体側回動軸と、上記昇降
軸に枢持状態に配置されかつ同心に設けられ上端に、上
記基体側水平腕の回動端に枢持されて上記作業側水平腕
が固定された作業側回動軸を動作させる作業側巻掛伝動
装置が設けられ、下端には上記基体側回動軸に対応した
上記伝動機構とは別の上記伝動機構の駆動歯車と回転方
向及び昇降方向に係合した従動歯車が設けられた作業側
伝動軸と、上記昇降軸に枢持状態に配置されかつ同心に
設けられて上端に、上記作業側回動軸に枢持され同心に
設けられた中間伝動軸及びこの中間伝動軸を介して上記
作業側水平腕の回動端に枢持されて上記把手を支持する
把手回動軸を動作させる把手側巻掛伝動装置が設けられ
、下端には上記作業側伝動軸に対応した上記伝動機構と
は別の上記伝動機構の駆動歯車と回転方向及び昇降方向
に係合した従動歯車が設けられた把手側伝動軸と、上記
基体に装着されて上記基体側回動軸、作業側伝動軸及び
把手側伝動軸のそれぞれに対応した上記伝動機構のそれ
ぞれに設けられた駆動機とを備えたことを特徴とする産
業用ロボット。A lifting shaft provided on the base body, a horizontal arm on the base side having one end disposed on the lifting shaft, a horizontal arm on the work side having one end pivoted at the rotation end of the horizontal arm on the base side, and rotation of the horizontal arm on the work side. In an industrial robot having a handle provided at an end, an elevating drive device mounted on the base body to raise and lower the elevating shaft; a spline-shaped transmission shaft disposed on the base body and arranged in the vertical direction; a transmission mechanism having a drive gear slidably engaged with a shaft; a drive gear of the transmission mechanism that is pivotally supported and concentrically mounted on the elevating shaft, with the horizontal arm on the base side fixed to the upper end and the drive gear of the transmission mechanism at the lower end; a base-side rotation shaft provided with a driven gear engaged in the rotational direction and the lifting direction; and a rotation end of the base-side horizontal arm that is arranged pivotally on the lifting shaft and is provided concentrically with the upper end. A work-side wrap transmission device is provided at the lower end for operating the work-side rotation shaft, which is pivotally supported by the work-side horizontal arm to which the work-side horizontal arm is fixed. a working side transmission shaft provided with a driven gear engaged in the rotational direction and the lifting direction with the driving gear of the transmission mechanism; An intermediate transmission shaft is pivotally mounted on the side rotation shaft and provided concentrically, and a handle rotation shaft that is pivotally supported on the rotation end of the work side horizontal arm and supports the handle is operated via this intermediate transmission shaft. A handle-side wrap-around transmission device is provided, and a driven gear is provided at the lower end of the transmission mechanism that is engaged with a drive gear of the transmission mechanism that is different from the transmission mechanism that corresponds to the work-side transmission shaft in the rotational direction and the vertical direction. A handle-side transmission shaft, and a drive machine attached to the base body and provided in each of the transmission mechanisms corresponding to each of the base-side rotation shaft, the work-side transmission shaft, and the handle-side transmission shaft. Features of industrial robots.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63146270A JPH01316184A (en) | 1988-06-14 | 1988-06-14 | Industrial robot |
| US07/353,609 US4947702A (en) | 1988-06-14 | 1989-05-18 | Industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63146270A JPH01316184A (en) | 1988-06-14 | 1988-06-14 | Industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01316184A true JPH01316184A (en) | 1989-12-21 |
Family
ID=15403939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63146270A Pending JPH01316184A (en) | 1988-06-14 | 1988-06-14 | Industrial robot |
Country Status (2)
| Country | Link |
|---|---|
| US (1) | US4947702A (en) |
| JP (1) | JPH01316184A (en) |
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| JPS605432B2 (en) * | 1980-09-30 | 1985-02-12 | ファナック株式会社 | industrial robot |
| JPS58149189A (en) * | 1982-03-01 | 1983-09-05 | セイコーインスツルメンツ株式会社 | Turning lifting mechanism of industrial robot |
| JPS58165978A (en) * | 1982-03-24 | 1983-10-01 | 三菱電機株式会社 | Industrial robot |
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| US5513946A (en) * | 1991-08-27 | 1996-05-07 | Canon Kabushiki Kaisha | Clean robot |
| US6037733A (en) * | 1996-03-22 | 2000-03-14 | Genmark Automation | Robot having multiple degrees of freedom |
| US6121743A (en) * | 1996-03-22 | 2000-09-19 | Genmark Automation, Inc. | Dual robotic arm end effectors having independent yaw motion |
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| US6489741B1 (en) | 1998-08-25 | 2002-12-03 | Genmark Automation, Inc. | Robot motion compensation system |
| WO2000021721A1 (en) * | 1998-10-14 | 2000-04-20 | Kenichi Nishio | Robot arm |
| JP2003025262A (en) * | 2001-07-13 | 2003-01-29 | Daihen Corp | Robot for conveying workpiece |
| JP4709436B2 (en) * | 2001-07-13 | 2011-06-22 | 株式会社ダイヘン | Robot for workpiece transfer |
| JP2008246644A (en) * | 2007-03-30 | 2008-10-16 | Daihen Corp | Carrier device |
| JP2009269122A (en) * | 2008-05-07 | 2009-11-19 | Shindengen Electric Mfg Co Ltd | Workpiece conveying robot |
| JP2017503666A (en) * | 2014-01-05 | 2017-02-02 | アプライド マテリアルズ インコーポレイテッドＡｐｐｌｉｅｄ Ｍａｔｅｒｉａｌｓ，Ｉｎｃｏｒｐｏｒａｔｅｄ | Robot apparatus, drive assembly, and method for transporting substrates in electronic device manufacturing |
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Also Published As
| Publication number | Publication date |
|---|---|
| US4947702A (en) | 1990-08-14 |
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